Permanent magnet synchronous motor driving method and device

Abstract

The application relates to the field of motor control, in particular to a permanent magnet synchronous motor driving method and device, wherein the method comprises the following steps: monitoring and separating noise signals when the motor is running, so as to determine the change trend of the electromagnetic noise signals and the change trend of the non-electromagnetic noise signals, determining the required compensation current according to the change trends of the two, and modulating the target voltage of the final output according to the compensation current; in the application, the controllable electromagnetic noise signals are adjusted, the electromagnetic noise signals and the uncontrollable non-electromagnetic noise signals form destructive interference, so that the electromagnetic noise and the non-electromagnetic noise are offset, the non-electromagnetic noise is maximally offset, and the overall noise reduction effect is improved.

Description

Technical Field

[0001] This invention relates to the field of motor control, and in particular to a method and apparatus for driving a permanent magnet synchronous motor. Background Technology

[0002] Motors generate noise during operation, such as mechanical noise and wind noise. Permanent magnet synchronous motors, due to the presence of permanent magnets, will cause current harmonics during operation, which will lead to torque fluctuations and thus generate significant electromagnetic noise.

[0003] Current technologies primarily suppress electromagnetic noise by determining the harmonic order of the current and then injecting a corresponding compensating current to suppress torque fluctuations. However, this method can only suppress electromagnetic noise generated by electromagnetic induction and cannot address other noises (such as mechanical noise and wind noise, which are mainly affected by hardware characteristics). Therefore, it is difficult to achieve comprehensive noise reduction, and the noise reduction effect is very limited. Summary of the Invention

[0004] Therefore, it is necessary to provide a method and apparatus for driving a permanent magnet synchronous motor to address the above-mentioned problems.

[0005] The present invention is implemented as follows: a method for driving a permanent magnet synchronous motor is provided, the method comprising:

[0006] Noise signals are collected by the motor's built-in sound sensor during operation;

[0007] The collected noise signals are separated to determine the electromagnetic noise signals and the non-electromagnetic noise signals;

[0008] The changing trend of the signal characteristics of the electromagnetic noise signal is defined as the first changing trend, and the changing trend of the signal characteristics of the electromagnetic noise signal is defined as the second changing trend. The signal characteristics include phase, frequency, and amplitude.

[0009] For each moment within a set future time period, the signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at that moment is determined based on the first trend and the second trend.

[0010] The compensation current is determined based on the signal characteristic deviation, wherein the compensation current minimizes the deviation between the electromagnetic noise signal and the non-electromagnetic noise signal and makes them phase-shifted.

[0011] The compensation voltage is determined based on the compensation current, and the compensation voltage is modulated with the base voltage to form the target voltage, where the base voltage is the voltage that ensures torque output.

[0012] At that moment, the motor outputs a target voltage to cancel out the electromagnetic noise and non-electromagnetic noise.

[0013] In one embodiment, the present invention provides a permanent magnet synchronous motor drive device, the device comprising:

[0014] The acquisition module is used to collect noise signals through the motor's built-in sound sensor when the motor is running;

[0015] The separation module is used to separate the acquired noise signals to determine the electromagnetic noise signals and the non-electromagnetic noise signals.

[0016] The first processing module is used to determine the changing trend of the signal characteristics of the electromagnetic noise signal as a first changing trend and to determine the changing trend of the signal characteristics of the electromagnetic noise signal as a second changing trend, wherein the signal characteristics include phase, frequency and amplitude.

[0017] The second processing module is used to determine the signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at each moment within a future set time period, based on the first change trend and the second change trend.

[0018] The third processing module is used to determine the compensation current based on the signal characteristic deviation, wherein the compensation current minimizes the deviation between the electromagnetic noise signal and the non-electromagnetic noise signal and makes them phase-shifted.

[0019] The fourth processing module is used to determine the compensation voltage based on the compensation current and modulate the compensation voltage and the base voltage to form the target voltage, wherein the base voltage is the voltage that ensures torque output.

[0020] The output module is used to control the motor to output the target voltage at that moment so that the electromagnetic noise at that moment cancels out the non-electromagnetic noise.

[0021] This invention provides a method and apparatus for driving a permanent magnet synchronous motor. The method includes: collecting noise signals using a built-in sound sensor while the motor is running; separating the collected noise signals to determine electromagnetic noise signals and non-electromagnetic noise signals; determining a first trend and a second trend for the changing characteristics of the electromagnetic noise signals, wherein the signal characteristics include phase, frequency, and amplitude; for each moment within a predetermined time period, determining the signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at that moment based on the first and second trends; determining a compensation current based on the signal characteristic deviation, wherein the compensation current minimizes the deviation between the electromagnetic noise signal and the non-electromagnetic noise signal and ensures phase separation; and determining a compensation current based on the compensation... The current determines the compensation voltage, which is then modulated with the base voltage to form the target voltage, where the base voltage is the voltage that ensures torque output. At this moment, the motor outputs the target voltage to cancel out electromagnetic noise and non-electromagnetic noise. In this embodiment, during motor operation, noise signals are monitored and separated to determine the changing trends of electromagnetic noise and non-electromagnetic noise signals. Based on these trends, the required compensation current is determined, and the final output target voltage is modulated according to this compensation current. In this application, by adjusting the controllable electromagnetic noise signal, the electromagnetic noise signal and the uncontrollable non-electromagnetic noise signal form destructive interference, thereby achieving mutual cancellation. This not only reduces electromagnetic noise but also maximizes the cancellation of non-electromagnetic noise, thus improving the overall noise reduction effect. Attached Figure Description

[0022] Figure 1 This is a flowchart of a permanent magnet synchronous motor driving method provided in one embodiment;

[0023] Figure 2 This is a diagram illustrating the application environment of a permanent magnet synchronous motor driving method provided in one embodiment.

[0024] Figure 3 This is a schematic diagram of electromagnetic noise signals and non-electromagnetic noise signals for a permanent magnet synchronous motor driving method provided in one embodiment.

[0025] Figure 4 A module flowchart of a permanent magnet synchronous motor drive device provided in one embodiment;

[0026] Figure 5 This is a block diagram of the internal structure of a computer device in one embodiment. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] It is understood that the terms "first," "second," etc., used in this invention may be used to describe various elements herein, but unless specifically stated otherwise, these elements are not limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this invention, a first script may be referred to as a second script, and similarly, a second script may be referred to as a first script.

[0029] like Figure 1 As shown, in one embodiment, a method for driving a permanent magnet synchronous motor is proposed, the method comprising:

[0030] Noise signals are collected by the motor's built-in sound sensor during operation;

[0031] The collected noise signals are separated to determine the electromagnetic noise signals and the non-electromagnetic noise signals;

[0032] The changing trend of the signal characteristics of the electromagnetic noise signal is defined as the first changing trend, and the changing trend of the signal characteristics of the electromagnetic noise signal is defined as the second changing trend. The signal characteristics include phase, frequency, and amplitude.

[0033] For each moment within a set future time period, the signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at that moment is determined based on the first trend and the second trend.

[0034] The compensation current is determined based on the signal characteristic deviation, wherein the compensation current minimizes the deviation between the electromagnetic noise signal and the non-electromagnetic noise signal and makes them phase-shifted.

[0035] The compensation voltage is determined based on the compensation current, and the compensation voltage is modulated with the base voltage to form the target voltage, where the base voltage is the voltage that ensures torque output.

[0036] At that moment, the motor outputs a target voltage to cancel out the electromagnetic noise and non-electromagnetic noise.

[0037] In this embodiment, as Figure 2As shown, this method is executed in a computer device, which can be an independent physical server or terminal, or a server cluster consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud servers, cloud databases, cloud storage, and CDN. The computer device communicates with the permanent magnet synchronous motor, thereby controlling the operation of the permanent magnet synchronous motor. The permanent magnet synchronous motor is equipped with a sound sensor controlled by the computer device. The sound sensor can collect the noise signal generated by the motor and transmit the noise signal to the computer device for processing.

[0038] In this embodiment, a high-precision MEMS sound sensor (such as SensirionSPH0641LU4H-1) is selected and built into the inside of the motor stator end cover (≤5cm away from the electromagnetic noise source). The sampling frequency is set to 44.1kHz (satisfying Nyquist's theorem and covering the common electromagnetic noise frequency of motors from 100Hz to 20kHz), and the quantization bit is 16bit to ensure signal acquisition accuracy.

[0039] In this embodiment, both electromagnetic noise and non-electromagnetic noise propagate in the form of sound waves. Under the condition of destructive interference, the sound waves can interfere with and cancel each other out, thereby reducing the overall noise. The destructive interference conditions mainly include:

[0040] Same frequency: The frequencies of the two signals are the same (different frequencies only produce "beat frequencies" and cannot cancel each other out);

[0041] Phase inversion: The phase difference between the two signals is 180° (π radians) (vibration / electric field directions are opposite);

[0042] Equal amplitude: The amplitude (intensity) of the two signals is equal (otherwise, they are only partially weakened and cannot be completely canceled out).

[0043] The deviation between electromagnetic noise signals and non-electromagnetic noise signals mainly refers to the deviation in frequency and amplitude. Since it is difficult to make the frequency and amplitude of electromagnetic noise signals and non-electromagnetic noise signals completely consistent in actual control, the goal of this embodiment is to minimize the deviation between the two, so that they can cancel each other out as much as possible. The phase is offset, that is, the phase deviation between electromagnetic noise signals and non-electromagnetic noise signals is 180° (π radians).

[0044] In this embodiment, the future set duration can be regarded as a running cycle, with a length of 2 seconds, covering the signal cycles of multiple electromagnetic signals and non-electromagnetic signals; the interval between moments can be 0.1 seconds; the number of moments in the future set duration can be obtained by dividing the future set duration by the interval between moments, for example, 2 / 0.1=20; then the compensation current can be calculated for each moment of the future set duration, and the corresponding target voltage can be determined, so as to output the target voltage at the corresponding moment; when half of the running cycle is reached (for example, when there are 20 moments in total, when the 10th moment is reached), the target voltage of each moment of the next running cycle can be calculated to complete the calculation before the end of this cycle, so as to output the target voltage in a timely manner;

[0045] In this application, noise signals are monitored and separated during motor operation to determine the changing trends of electromagnetic noise signals and non-electromagnetic noise signals. Based on these trends, the required compensation current is determined, and the final output target voltage is modulated according to this compensation current. In this application, by adjusting the controllable electromagnetic noise signal, the electromagnetic noise signal and the uncontrollable non-electromagnetic noise signal form destructive interference, thereby achieving mutual cancellation. This not only reduces electromagnetic noise but also cancels non-electromagnetic noise to the greatest extent, thus improving the overall noise reduction effect.

[0046] In a preferred embodiment, the signal separation of the acquired noise signal includes:

[0047] Calculate the electromagnetic frequency of the motor ;

[0048] Determine the electromagnetic frequency band of the motor based on the calculated electromagnetic frequency. ,in, The preset electromagnetic frequency fluctuation amplitude;

[0049] The noise signal is filtered using an infinite impulse response digital filter, retaining only the noise signal. The signal inside is used to obtain electromagnetic noise signal. ;

[0050] Electromagnetic noise signals are removed by noise signals to obtain non-electromagnetic noise signals. .

[0051] The electromagnetic frequency of the motor can be calculated using the following formula:

[0052]

[0053] in, Here, p represents the harmonic order, n represents the number of pole pairs of the motor, and n represents the motor speed.

[0054] In this embodiment, the electromagnetic frequency fluctuation amplitude can be 0.05 or other values. This is an optional implementation method based on accuracy requirements and is not limited here. Since the frequency of electromagnetic noise is strongly correlated with the electromagnetic frequency of the motor, The corresponding noise signal is the electromagnetic noise signal caused by the electromagnetic force waves of the motor, which is equivalent to the frequency range in which the electromagnetic frequency of the motor is likely located (actual frequency error has been taken into account). By filtering out this part of the noise signal, the electromagnetic noise signal can be obtained. Due to the cumulative characteristics of noise signals, given the total noise signal (i.e. the monitored noise signal) and the electromagnetic noise signal, the electromagnetic noise signal can be subtracted from the total noise signal to obtain the non-electromagnetic noise signal.

[0055] In this embodiment, since the motor is connected to the computer device, the computer device can obtain the changes in the voltage and current of the motor in real time, thereby analyzing and determining the harmonic order p of the motor; the computer device can directly obtain the number of revolutions n of the motor, and the number of pole pairs of the motor is a fixed value that is pre-input into the computer device.

[0056] like Figure 3 As shown, in a preferred embodiment, the changing trend of the signal characteristics of the electromagnetic noise signal is determined as the first changing trend, that is, the change of the signal characteristics of the electromagnetic noise signal over time is determined, and expressed as follows: ,in, The frequency of the electromagnetic noise signal. The amplitude of the electromagnetic noise signal. The phase of the electromagnetic noise signal;

[0057] The changing trend of the signal characteristics of the non-electromagnetic noise signal is determined as the second changing trend, that is, the change of the signal characteristics of the non-electromagnetic noise signal over time is determined as follows: ,in, The frequency of the non-electromagnetic noise signal The amplitude of the non-electromagnetic noise signal. The phase of the non-electromagnetic noise signal.

[0058] In this embodiment, both the determined electromagnetic noise signal and the non-electromagnetic noise signal are presented as signal curves, and the curves have a certain periodicity. Therefore, by performing curve analysis on the two curves and analyzing their periodic characteristics, the frequency, amplitude and phase of each period can be determined, thereby predicting the changes of signal characteristics over time in the future.

[0059] As a preferred embodiment, let the future duration be T, and the current time be... The signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at that moment, determined based on the first and second trends, includes:

[0060] Determine frequency deviation , ,in, To set a specific moment within a given timeframe for the future;

[0061] Determine amplitude deviation , ;

[0062] Determine phase deviation , .

[0063] In this embodiment, It can be any time within a set future period. The characteristic deviation at any time within the set future period can be determined through the calculation method in this embodiment.

[0064] As a preferred embodiment, determining the compensation current based on signal characteristic deviation includes:

[0065] Construct a comprehensive deviation function that covers frequency deviation, amplitude deviation, and phase deviation, where the variable in the comprehensive deviation function is the compensation current;

[0066] Determine the range of compensation current, solve the comprehensive deviation function within the compensation current range, and obtain the target compensation current that minimizes the value of the comprehensive deviation function.

[0067] The overall deviation function is expressed as:

[0068]

[0069] in, In order to be in Apply compensation current at all times The comprehensive deviation function at that time In order to be in Apply compensation current at all times Frequency deviation at time In order to be in Apply compensation current at all times Amplitude deviation at time In order to be in Apply compensation current at all times Phase deviation at time; For the preset frequency deviation weight, The preset amplitude deviation weight, This is the preset phase deviation weight.

[0070] In this embodiment, the overall deviation function includes frequency deviation, amplitude deviation, and phase difference. The deviation between the two signals, the minimum of the comprehensive deviation function, indicates that the deviations in frequency and amplitude between the electromagnetic noise signal and the non-electromagnetic noise signal are small, while the phase difference between the electromagnetic noise signal and the non-electromagnetic noise signal is also small. The deviation between them is also very small, so that the electromagnetic noise signal and the non-electromagnetic noise signal are as close as possible to satisfy the coherent cancellation condition, thereby reducing the two noises as much as possible; the frequency deviation weight, amplitude deviation weight, and phase deviation weight can be set to 0.2, 0.2, and 0.6 respectively, or other weight allocation combinations; in the coherent cancellation condition, the phase deviation is the most important (not only is it difficult to form sound wave cancellation, but it may also form resonance superposition), so the highest weight should be set.

[0071] In this embodiment, the computer device stores a lookup table of electromagnetic noise signal characteristics corresponding to different magnitudes of compensation current under all operating conditions (i.e., at each operating power). For each specific magnitude of compensation current, the frequency, amplitude, and phase of the corresponding electromagnetic noise signal are listed in the lookup table. The data in this lookup table is obtained by statistically analyzing historical data. Before calculation, the current motor operating power is determined (since the future setting time is relatively short, its motor power can be considered consistent with the current power), for example, 5kW. Then, the signal characteristic lookup table corresponding to 5kW is called. For a compensation current... Electromagnetic noise signal parameters can be determined by referring to the comparison table. , as well as Therefore, it can be determined , as well as Finally, the calculation yielded Among them, the compensation current range The range is -0.2 ~0.2 (in (Rated current), repeatedly changing variables. The value within its range can be used to calculate the minimum. Correspondingly That is, the final determined compensation current.

[0072] As a preferred embodiment, the compensation voltage is calculated using the following formula:

[0073]

[0074] in, To compensate for voltage, For the motor armature resistance, For the armature inductance of the motor, The current angular velocity of the motor. Let be the back electromotive force constant of the motor;

[0075] The target voltage is determined using the following formula:

[0076]

[0077] in, For the target voltage, Based on the base voltage.

[0078] In this embodiment, the motor armature resistance and motor armature inductance can be obtained from the motor parameter manual, and the motor back electromotive force constant can be obtained by manual experimentation before the motor runs (this is prior art and will not be elaborated here); since the motor is controlled by computer equipment, the current angular velocity of the motor can be monitored by the computer equipment in real time.

[0079] like Figure 4 As shown, in one embodiment, a permanent magnet synchronous motor drive device is proposed, the device comprising:

[0080] The acquisition module is used to collect noise signals through the motor's built-in sound sensor when the motor is running;

[0081] The separation module is used to separate the acquired noise signals to determine the electromagnetic noise signals and the non-electromagnetic noise signals.

[0082] The first processing module is used to determine the changing trend of the signal characteristics of the electromagnetic noise signal as a first changing trend and to determine the changing trend of the signal characteristics of the electromagnetic noise signal as a second changing trend, wherein the signal characteristics include phase, frequency and amplitude.

[0083] The second processing module is used to determine the signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at each moment within a future set time period, based on the first change trend and the second change trend.

[0084] The third processing module is used to determine the compensation current based on the signal characteristic deviation, wherein the compensation current minimizes the deviation between the electromagnetic noise signal and the non-electromagnetic noise signal and makes them phase-shifted.

[0085] The fourth processing module is used to determine the compensation voltage based on the compensation current and modulate the compensation voltage and the base voltage to form the target voltage, wherein the base voltage is the voltage that ensures torque output.

[0086] The output module is used to control the motor to output the target voltage at that moment so that the electromagnetic noise at that moment cancels out the non-electromagnetic noise.

[0087] In this embodiment, the modules work together to monitor and separate noise signals during motor operation, thereby determining the changing trends of electromagnetic noise signals and non-electromagnetic noise signals. Based on these trends, the required compensation current is determined, and the final output target voltage is modulated according to this compensation current. In this application, by adjusting the controllable electromagnetic noise signal, the electromagnetic noise signal and the uncontrollable non-electromagnetic noise signal form destructive interference, thereby achieving mutual cancellation. This not only reduces electromagnetic noise but also cancels non-electromagnetic noise to the greatest extent, thus improving the overall noise reduction effect.

[0088] In one embodiment, a permanent magnet synchronous motor drive system is provided, the system comprising:

[0089] Permanent magnet synchronous motor;

[0090] A sound sensor is installed in the permanent magnet synchronous motor;

[0091] Computer equipment communicates with a permanent magnet synchronous motor and a sound sensor to execute a permanent magnet synchronous motor drive method.

[0092] In this embodiment, the components work together to monitor and separate noise signals during motor operation, thereby determining the changing trends of electromagnetic noise signals and non-electromagnetic noise signals. Based on these trends, the required compensation current is determined, and the final output target voltage is modulated according to this compensation current. In this application, by adjusting the controllable electromagnetic noise signal, the electromagnetic noise signal and the uncontrollable non-electromagnetic noise signal form destructive interference, thereby achieving mutual cancellation. This not only reduces electromagnetic noise but also cancels non-electromagnetic noise to the greatest extent, thus improving the overall noise reduction effect.

[0093] Figure 5 An internal structural diagram of a computer device in one embodiment is shown. Figure 5 As shown, the computer device includes a processor, memory, network interface, input device, and display screen connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement the permanent magnet synchronous motor driving method provided in this embodiment of the invention. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to execute the permanent magnet synchronous motor driving method provided in this embodiment of the invention. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad mounted on the casing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0094] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device to which the present invention is applied. A specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0095] In one embodiment, the permanent magnet synchronous motor drive device provided by the present invention can be implemented as a computer program, and the computer program can be implemented in the form of, for example, Figure 5 The computer device shown is running the program. The computer device's memory can store the various program modules that make up the permanent magnet synchronous motor drive device, for example, Figure 4 The diagram shows a data acquisition module, a separation module, a first processing module, a second processing module, a third processing module, a fourth processing module, and an output module. The computer program comprised of these modules causes the processor to execute the steps in the permanent magnet synchronous motor drive methods of the various embodiments of the present invention described in this specification.

[0096] For example, Figure 5 The computer equipment shown can be used as follows Figure 4 The acquisition module in the permanent magnet synchronous motor drive device shown executes step S1; the computer device can execute step S2 through the separation module; the computer device can execute step S3 through the first processing module; the computer device can execute step S4 through the second processing module; the computer device can execute step S5 through the third processing module; the computer device can execute step S6 through the fourth processing module; and the computer device can execute step S7 through the output module.

[0097] In one embodiment, a computer device is provided, the computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following steps:

[0098] Noise signals are collected by the motor's built-in sound sensor during operation;

[0099] The collected noise signals are separated to determine the electromagnetic noise signals and the non-electromagnetic noise signals;

[0100] The changing trend of the signal characteristics of the electromagnetic noise signal is defined as the first changing trend, and the changing trend of the signal characteristics of the electromagnetic noise signal is defined as the second changing trend. The signal characteristics include phase, frequency, and amplitude.

[0101] For each moment within a set future time period, the signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at that moment is determined based on the first trend and the second trend.

[0102] The compensation current is determined based on the signal characteristic deviation, wherein the compensation current minimizes the deviation between the electromagnetic noise signal and the non-electromagnetic noise signal and makes them phase-shifted.

[0103] The compensation voltage is determined based on the compensation current, and the compensation voltage is modulated with the base voltage to form the target voltage, where the base voltage is the voltage that ensures torque output.

[0104] At that moment, the motor outputs a target voltage to cancel out the electromagnetic noise and non-electromagnetic noise.

[0105] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the following steps:

[0106] Noise signals are collected by the motor's built-in sound sensor during operation;

[0107] The collected noise signals are separated to determine the electromagnetic noise signals and the non-electromagnetic noise signals;

[0108] The changing trend of the signal characteristics of the electromagnetic noise signal is defined as the first changing trend, and the changing trend of the signal characteristics of the electromagnetic noise signal is defined as the second changing trend. The signal characteristics include phase, frequency, and amplitude.

[0109] For each moment within a set future time period, the signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at that moment is determined based on the first trend and the second trend.

[0110] The compensation current is determined based on the signal characteristic deviation, wherein the compensation current minimizes the deviation between the electromagnetic noise signal and the non-electromagnetic noise signal and makes them phase-shifted.

[0111] The compensation voltage is determined based on the compensation current, and the compensation voltage is modulated with the base voltage to form the target voltage, where the base voltage is the voltage that ensures torque output.

[0112] At that moment, the motor outputs a target voltage to cancel out the electromagnetic noise and non-electromagnetic noise.

[0113] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0114] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0115] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A method for driving a permanent magnet synchronous motor, characterized in that, The method includes: Noise signals are collected by the motor's built-in sound sensor during operation; The collected noise signals are separated to determine the electromagnetic noise signals and the non-electromagnetic noise signals; The changing trend of the signal characteristics of the electromagnetic noise signal is defined as the first changing trend, and the changing trend of the signal characteristics of the non-electromagnetic noise signal is defined as the second changing trend. The signal characteristics include phase, frequency, and amplitude. For each moment within a set future time period, the signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at that moment is determined based on the first trend and the second trend. The compensation current is determined based on the signal characteristic deviation, wherein the compensation current minimizes the deviation between the electromagnetic noise signal and the non-electromagnetic noise signal and makes them phase-shifted. The compensation voltage is determined based on the compensation current, and the compensation voltage is modulated with the base voltage to form the target voltage, where the base voltage is the voltage that ensures torque output. At that moment, the motor outputs a target voltage to cancel out the electromagnetic noise and non-electromagnetic noise.

2. The method according to claim 1, characterized in that, The signal separation of the collected noise signal includes: Calculate the electromagnetic frequency of the motor ; Determine the electromagnetic frequency band of the motor based on the calculated electromagnetic frequency. ,in, The preset electromagnetic frequency fluctuation amplitude; The noise signal is filtered using an infinite impulse response digital filter, retaining only the noise signal. The signal inside is used to obtain electromagnetic noise signal. ; Electromagnetic noise signals are removed by noise signals to obtain non-electromagnetic noise signals. .

3. The method according to claim 2, characterized in that, The electromagnetic frequency of the motor can be calculated using the following formula: in, Here, p represents the harmonic order, n represents the number of pole pairs of the motor, and n represents the motor speed.

4. The method according to claim 2, characterized in that, The first trend is defined as the changing trend of the signal characteristics of the electromagnetic noise signal, i.e., the change of the signal characteristics of the electromagnetic noise signal over time is defined as follows: ,in, The frequency of the electromagnetic noise signal. The amplitude of the electromagnetic noise signal. The phase of the electromagnetic noise signal; The changing trend of the signal characteristics of the non-electromagnetic noise signal is determined as the second changing trend, that is, the change of the signal characteristics of the non-electromagnetic noise signal over time is determined as follows: ,in, The frequency of the non-electromagnetic noise signal The amplitude of the non-electromagnetic noise signal. The phase of the non-electromagnetic noise signal.

5. The method according to claim 4, characterized in that, Let the future duration be T, and the current time be... ; The signal characteristic deviations between the electromagnetic noise signal and the non-electromagnetic noise signal at that moment, determined based on the first and second trends, include: Determine frequency deviation , ,in, To set a specific moment within a given timeframe for the future; Determine amplitude deviation , ; Determine phase deviation , .

6. The method according to claim 5, characterized in that, Determining the compensation current based on signal characteristic deviation includes: Construct a comprehensive deviation function that covers frequency deviation, amplitude deviation, and phase deviation, where the variable in the comprehensive deviation function is the compensation current; Determine the range of compensation current, solve the comprehensive deviation function within the compensation current range, and obtain the target compensation current that minimizes the value of the comprehensive deviation function.

7. The method according to claim 6, characterized in that, The overall deviation function is expressed as: in, In order to be in Apply compensation current at all times The comprehensive deviation function at that time In order to be in Apply compensation current at all times Frequency deviation at time In order to be in Apply compensation current at all times Amplitude deviation at time In order to be in Apply compensation current at all times Phase deviation at time; For the preset frequency deviation weight, The preset amplitude deviation weight, This is the preset phase deviation weight.

8. The method according to claim 6, characterized in that, The compensation voltage is calculated using the following formula: in, To compensate for voltage, For the motor armature resistance, For the armature inductance of the motor, The current angular velocity of the motor. Let be the back electromotive force constant of the motor. To compensate for the current; The target voltage is determined using the following formula: in, For the target voltage, Based on the base voltage.

9. A permanent magnet synchronous motor drive device, characterized in that, The device includes: The acquisition module is used to collect noise signals through the motor's built-in sound sensor when the motor is running; The separation module is used to separate the acquired noise signals to determine the electromagnetic noise signals and the non-electromagnetic noise signals. The first processing module is used to determine the changing trend of the signal characteristics of the electromagnetic noise signal as the first changing trend and to determine the changing trend of the signal characteristics of the non-electromagnetic noise signal as the second changing trend. The signal characteristics include phase, frequency, and amplitude. The second processing module is used to determine the signal characteristic deviation between the electromagnetic noise signal and the non-electromagnetic noise signal at each moment within a future set time period, based on the first change trend and the second change trend. The third processing module is used to determine the compensation current based on the signal characteristic deviation, wherein the compensation current minimizes the deviation between the electromagnetic noise signal and the non-electromagnetic noise signal and makes them phase-shifted. The fourth processing module is used to determine the compensation voltage based on the compensation current and modulate the compensation voltage and the base voltage to form the target voltage, wherein the base voltage is the voltage that ensures torque output. The output module is used to control the motor to output the target voltage at that moment so that the electromagnetic noise at that moment cancels out the non-electromagnetic noise.

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